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Version: 9

Create Robot Mock Configuration

In the previous guide, we were able to launch a URDF with ros2_control mock hardware and move joints to specific positions. Now we want to connect this robot configuration to MoveIt Pro for advanced motion planning capabilities. We will do this in the next series of guides with the output of each specific step being visible in a branch of example_robot_ws.

example_robot_ws Checkpoint

If you are following this guide with example_robot_ws, your workspace should look like branch step1.

Update your ROS 2 Workspace​

Update the branch of the repository cloned in our URDF to Xacro guide:

cd ~/example_robot_ws
git checkout origin/step2
git submodule update --init --recursive
note

The files present in this branch are the result of

  1. Either forking moveit_pro_empty_ws or copying its files into a private repository.
  2. Adding our git submodule dependencies for our r6 arm description and driver files.
cd ~/example_robot_ws
git submodule add git@github.com:PickNikRobotics/example_arm_description.git src/external_dependencies/example_arm_description
git submodule add git@github.com:PickNikRobotics/example_arm_driver.git src/external_dependencies/example_arm_driver

Configure MoveIt Pro to Use Your New Workspace​

Run moveit_pro configure and point to the new workspace at ~/example_robot_ws. You can leave the robot config package with its default value for now, since we do not yet have a robot config to point at.

Create your ROBOT_mock Robot Configuration Folder​

Required Version
This feature requires MoveIt Pro version 8.8 or newer.

We will use moveit_pro new config in its interactive mode to add a new robot configuration to our configured workspace. Run moveit_pro new config and, following previous robot config naming best practices, use example_robot_mock for the package_name. This config will not inherit (based_on_package) from any other config.

tip

Most moveit_pro commands provide additional information with -h and --help. As new commands come up, run them with -h to learn more about their capabilities.

step2 Checkpoint

Your example_robot_ws workspace should now look like branch step2.

In the next series of guides we will add missing configuration files required to launch this robot.